CANopen Slave

More documents

Recommendations

Info

Dual-Port-Memory 36/112 Communication State (All Implementations) The communication state field contains information regarding the current network status of the communication channel. Depending on the implementation, all or a subset of the definitions below is supported. • UNKNOWN #define RCX_COMM_STATE_UNKNOWN 0x00000000 • NOT_CONFIGURED #define RCX_COMM_STATE_NOT_CONFIGURED 0x00000001 • STOP #define RCX_COMM_STATE_STOP 0x00000002 • IDLE #define RCX_COMM_STATE_IDLE 0x00000003 • OPERATE #define RCX_COMM_STATE_OPERATE 0x00000004 Communication Channel Error (All Implementations) This field holds the current error code of the communication channel. If the cause of error is resolved, the communication error field is set to zero (= RCX_SYS_SUCCESS) again. Not all of the error codes are supported in every implementation. Protocol stacks may use a subset of the error codes below. • SUCCESS #define RCX_SYS_SUCCESS 0x00000000 Runtime Failures • WATCHDOG TIMEOUT #define RCX_E_WATCHDOG_TIMEOUT 0xC000000C Initialization Failures • (General) INITIALIZATION FAULT #define RCX_E_INIT_FAULT • DATABASE ACCESS FAILED #define RCX_E_DATABASE_ACCESS_FAILED 0xC0000100 0xC0000101 Configuration Failures • NOT CONFIGURED #define RCX_E_NOT_CONFIGURED 0xC0000119 • (General) CONFIGURATION FAULT #define RCX_E_CONFIGURATION_FAULT • INCONSISTENT DATA SET #define RCX_E_INCONSISTENT_DATA_SET 0xC0000120 0xC0000121 • DATA SET MISMATCH #define RCX_E_DATA_SET_MISMATCH 0xC0000122 • INSUFFICIENT LICENSE #define RCX_E_INSUFFICIENT_LICENSE 0xC0000123 • PARAMETER ERROR #define RCX_E_PARAMETER_ERROR 0xC0000124 • INVALID NETWORK ADDRESS #define RCX_E_INVALID_NETWORK_ADDRESS 0xC0000125 • NO SECURITY MEMORY #define RCX_E_NO_SECURITY_MEMORY 0xC0000126 CANopen Slave | DOC070901API06EN | Revision 6 | English | 2010-06 | Released | Public © Hilscher, 2006-2010
Dual-Port-Memory 37/112 Network Failures • (General) NETWORK FAULT #define RCX_COMM_NETWORK_FAULT 0xC0000140 • CONNECTION CLOSED #define RCX_COMM_CONNECTION_CLOSED 0xC0000141 • CONNECTION TIMED OUT #define RCX_COMM_CONNECTION_TIMEOUT 0xC0000142 • LONELY NETWORK #define RCX_COMM_LONELY_NETWORK 0xC0000143 • DUPLICATE NODE #define RCX_COMM_DUPLICATE_NODE 0xC0000144 • CABLE DISCONNECT #define RCX_COMM_CABLE_DISCONNECT 0xC0000145 Version (All Implementations) The version field holds version of this structure. It starts with one; zero is not defined. • STRUCTURE VERSION #define RCX_STATUS_BLOCK_VERSION 0x0001 Watchdog Timeout (All Implementations) This field holds the configured watchdog timeout value in milliseconds. The application may set its watchdog trigger interval accordingly. If the application fails to copy the value from the host watchdog location to the device watchdog location, the protocol stack will interrupt all network connections immediately regardless of their current state. For details, see section 4.13 of the netX DPM Interface Manual. Host Watchdog (All Implementations) The protocol stack supervises the host system using the watchdog function. If the application fails to copy the value from the device watchdog location (section 3.2.5 of the netX DPM Interface Manual) to the host watchdog location (section 3.2.4 of the netX DPM Interface Manual), the protocol stack assumes that the host system has some sort of problem and shuts down all network connections. For details on the watchdog function, refer to section 4.13 of the netX DPM Interface Manual. Error Count (All Implementations) This field holds the total number of errors detected since power-up, respectively after reset. The protocol stack counts all sorts of errors in this field no matter if they were network related or caused internally. Error Log Indicator (All Implementations) The error log indicator field holds the number of entries in the internal error log. If all entries are read from the log, the field is set to zero. The error log indicator is not supported yet. 3.3.1.2 Master Implementation The master contains additional structures for the administration of all slaves which are connected to the master. These are not discussed here as they are not relevant for the slave. 3.3.1.3 Slave Implementation The slave firmware uses only the common structure as outlined in section 3.2.5.1 of the Hilscher netX Dual-Port-Memory Manual. CANopen Slave | DOC070901API06EN | Revision 6 | English | 2010-06 | Released | Public © Hilscher, 2006-2010
Page 1 and 2: Protocol API CANopen Slave V2.4.x.x
Page 3 and 4: 3/112 Table of Contents 1 Introduct
Page 5 and 6: List of Figures 5/112 Figure 1: The
Page 7 and 8: Introduction 7/112 Table 62: Error
Page 9 and 10: Introduction 9/112 1.4 Specificatio
Page 11 and 12: Introduction 11/112 1.7 Legal Notes
Page 13 and 14: Fundamentals 13/112 2 Fundamentals
Page 15 and 16: Fundamentals 15/112 2.3 Accessing t
Page 17 and 18: Fundamentals 17/112 For use in the
Page 19 and 20: Fundamentals 19/112 Example: This e
Page 21 and 22: Fundamentals 21/112 3) You can find
Page 23 and 24: Fundamentals 23/112 2.4.2 Applicati
Page 25 and 26: Dual-Port-Memory 25/112 3.1.1 Input
Page 27 and 28: Dual-Port-Memory 27/112 3.2.1 Gener
Page 29 and 30: Dual-Port-Memory 29/112 Status / Er
Page 31 and 32: Dual-Port-Memory 31/112 3.2.6 Chann
Page 33 and 34: Dual-Port-Memory 33/112 Mechanism P
Page 35: Dual-Port-Memory 35/112 Communicati
Page 39 and 40: Dual-Port-Memory 39/112 3.3.2.1 Ext
Page 41 and 42: Dual-Port-Memory 41/112 Number of B
Page 43 and 44: Configuration Parameters 43/112 4 C
Page 45 and 46: Configuration Parameters 45/112 4.2
Page 47 and 48: Configuration Parameters 47/112 In
Page 49 and 50: The Application Interface 49/112 5
Page 51 and 52: The Application Interface 51/112 Pa
Page 57 and 58: The Application Interface 57/112 tD
Page 63 and 64: The Application Interface 63/112 5.
Page 81 and 82: The Application Interface 81/112 Va
Page 87 and 88:
The Application Interface 87/112 Pa
Page 89 and 90:
The Application Interface 89/112 5.
Page 91 and 92:
The Application Interface 91/112 CA
Page 93 and 94:
Page 95 and 96:
The Application Interface 95/112 Th
Page 97 and 98:
Page 99 and 100:
The Application Interface 99/112 Pa
Page 101 and 102:
The Application Interface 101/112 P
Page 103 and 104:
Page 105 and 106:
The Application Interface 105/112 5
Page 107 and 108:
Page 109 and 110:
Status/Error Codes Overview 109/112
Page 111 and 112:
Status/Error Codes Overview 111/112
show all

CANopen Slave

Create successful ePaper yourself

Delete template?

Save as template?